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Authors: Hachmia Faqihi 1 ; Maarouf Saad 2 ; Khalid Benjelloun 1 ; Mohammed Benbrahim 3 and M. Nabil Kabbaj 3

Affiliations: 1 LAII, Ecole Mohammadia d’Ingénieurs, Mohammed V University, Rabat and Morocco ; 2 Ecole de Technologie Supérieure, Montreal and Canada ; 3 Sidi Mohamed Ben Abdellah University, Fez and Morocco

ISBN: 978-989-758-321-6

Keyword(s): Multi-body Cable-driven Robot, Mobile Platform Joint Space, SMC, Sliding Mode Control, Flexibity, Tensionnability, Constrained Optimization Algorithm.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: The aim of this paper is to develop a suitable control of Multi-Body Cable-Driven Robot with satisfactory tensionnability condition. The desired trajectory is given in joint mobile platform space and thereby transformed on joint actuator space using the developed inverse kinematic. Under the control scheme, the actuator joint coordinates obtained by the sensor are used as feedback for the control system. Adding to the error in joint actuator space, the cable tensions which are computed based on the mobile platform dynamic and the optimization problem are used as inputs of the controller. The sliding mode control method based on linear reaching law is used to control the effector of the robot. Asymptotic stability of the closed loop system is analyzed through Lyapunov theorem. Finally, a motion tracking based on the proposed control strategy is carried out on the Multi Body Cable-Driven Robot. The obtained results show the effectiveness and the feasiblity of the proposed control method.

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Paper citation in several formats:
Faqihi, H.; Saad, M.; Benjelloun, K.; Benbrahim, M. and Kabbaj, M. (2018). Sliding Mode Control in Mobile Platform Joint Space for Multi-body Cable Driven Robot.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 357-363. DOI: 10.5220/0006865103670373

@conference{icinco18,
author={Hachmia Faqihi. and Maarouf Saad. and Khalid Benjelloun. and Mohammed Benbrahim. and M. Nabil Kabbaj.},
title={Sliding Mode Control in Mobile Platform Joint Space for Multi-body Cable Driven Robot},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={357-363},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006865103670373},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Sliding Mode Control in Mobile Platform Joint Space for Multi-body Cable Driven Robot
SN - 978-989-758-321-6
AU - Faqihi, H.
AU - Saad, M.
AU - Benjelloun, K.
AU - Benbrahim, M.
AU - Kabbaj, M.
PY - 2018
SP - 357
EP - 363
DO - 10.5220/0006865103670373

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